This paper proposes a simultaneous localization technique of mobile robot and pedestrian in ubiquitous sensor network. For the robot localization, a dead-reckoning system is developed wherein odometer, magnetic compass, and heading angle rate sensor are used. The novelty of dead-reckoning system developed in this paper is that it does not use acceleration in motion dynamic equation. Since the dead-reckoning system does not use linear acceleration, the system is not affected by high frequency noise, which is usually contained in the accelerometer measurement. For the pedestrian tracking, ubiquitous sensor network such as IEEE 802.15.4 is used. In this paper, it is also assumed that the relative direction of the pedestrian from the mobile robot is measured on the robot platform. Extended Kalman filter is used to integrate the sensor measurements. Simulation results will be presented to demonstrate the superiority of the proposed simultaneous localization technique.
Skip Nav Destination
ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 4–7, 2007
Las Vegas, Nevada, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-4805-1
PROCEEDINGS PAPER
Simultaneous Pedestrian and Robot Localization Technique in an Indoor Ubiquitous Robotic Space (URS) Available to Purchase
Hyo-Sung Ahn,
Hyo-Sung Ahn
Gwangju Institute of Science and Technology, Gwangju, South Korea
Search for other works by this author on:
Wonpil Yu
Wonpil Yu
Electronics and Telecommunications Research Institute, Daejeon, South Korea
Search for other works by this author on:
Hyo-Sung Ahn
Gwangju Institute of Science and Technology, Gwangju, South Korea
Wonpil Yu
Electronics and Telecommunications Research Institute, Daejeon, South Korea
Paper No:
DETC2007-34408, pp. 3-11; 9 pages
Published Online:
May 20, 2009
Citation
Ahn, H, & Yu, W. "Simultaneous Pedestrian and Robot Localization Technique in an Indoor Ubiquitous Robotic Space (URS)." Proceedings of the ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 4: ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications and the 19th Reliability, Stress Analysis, and Failure Prevention Conference. Las Vegas, Nevada, USA. September 4–7, 2007. pp. 3-11. ASME. https://doi.org/10.1115/DETC2007-34408
Download citation file:
12
Views
Related Proceedings Papers
Related Articles
Ground Reaction Force Estimation in Prosthetic Legs With Nonlinear Kalman Filtering Methods
J. Dyn. Sys., Meas., Control (November,2017)
Sonar-Based Wall-Following Control of Mobile Robots
J. Dyn. Sys., Meas., Control (March,2000)
Global Positioning System (GPS): A Low-Cost Velocity Sensor for Correcting Inertial Sensor Errors on Ground Vehicles
J. Dyn. Sys., Meas., Control (June,2004)
Related Chapters
Optical Communication Based Control Using Counter Source Codes & TDM
International Conference on Computer and Automation Engineering, 4th (ICCAE 2012)
A Novel Sensor Selection Algorithm in Sensor Network Tracking Based on AHP and Fuzzy Control
International Conference on Advanced Computer Theory and Engineering (ICACTE 2009)
A Learning-Based Adaptive Routing for QoS-Aware Data Collection in Fixed Sensor Networks with Mobile Sinks
Intelligent Engineering Systems through Artificial Neural Networks, Volume 20